Hang Xu

Aiyuan Yang, Bin Xiao, Bingning Wang et al. · pku

Large language models (LLMs) have demonstrated remarkable performance on a variety of natural language tasks based on just a few examples of natural language instructions, reducing the need for extensive feature engineering. However, most powerful LLMs are closed-source or limited in their capability for languages other than English. In this technical report, we present Baichuan 2, a series of large-scale multilingual language models containing 7 billion and 13 billion parameters, trained from scratch, on 2.6 trillion tokens. Baichuan 2 matches or outperforms other open-source models of similar size on public benchmarks like MMLU, CMMLU, GSM8K, and HumanEval. Furthermore, Baichuan 2 excels in vertical domains such as medicine and law. We will release all pre-training model checkpoints to benefit the research community in better understanding the training dynamics of Baichuan 2.

Zehao Wang, Guanglei Yang, Yihan Zeng et al.

Federated fine-tuning of foundation models with Low-Rank Adaptation (LoRA) provides an efficient solution for reducing communication and computation costs while preserving data locality. However, the direct combination of FedAvg and LoRA suffers from three key issues: limited update space, which restricts the model's effective learning capacity; inter-round state mismatch, which disrupts cross-round local optimization continuity; and a client-agnostic starting state, which slows local convergence on clients. Although recent methods mitigate the limited update space issue by merging LoRA updates into the backbone across communication rounds, inter-round state mismatch and the client-agnostic starting state remain insufficiently addressed. To address these issues, we propose FedSmoothLoRA, a federated LoRA tuning framework that preserves the enlarged update space, improves cross-round local optimization continuity, and provides a client-aware starting state for local training. At each communication round, FedSmoothLoRA constructs the local LoRA initialization using two matrices: a Round-Matching matrix that preserves cross-round local state continuity, and a Gradient-Aligned matrix that provides client-specific optimization guidance from gradient signals estimated on local data. Together, these designs enable smoother and faster convergence. Extensive experiments on image classification and natural language generation tasks demonstrate that FedSmoothLoRA consistently outperforms existing federated LoRA tuning methods. Code: https://github.com/wangzehao0704/FedSmoothLoRA

Tianyu Li, Li Chen, Huijie Wang et al. · pku

Understanding the road genome is essential to realize autonomous driving. This highly intelligent problem contains two aspects - the connection relationship of lanes, and the assignment relationship between lanes and traffic elements, where a comprehensive topology reasoning method is vacant. On one hand, previous map learning techniques struggle in deriving lane connectivity with segmentation or laneline paradigms; or prior lane topology-oriented approaches focus on centerline detection and neglect the interaction modeling. On the other hand, the traffic element to lane assignment problem is limited in the image domain, leaving how to construct the correspondence from two views an unexplored challenge. To address these issues, we present TopoNet, the first end-to-end framework capable of abstracting traffic knowledge beyond conventional perception tasks. To capture the driving scene topology, we introduce three key designs: (1) an embedding module to incorporate semantic knowledge from 2D elements into a unified feature space; (2) a curated scene graph neural network to model relationships and enable feature interaction inside the network; (3) instead of transmitting messages arbitrarily, a scene knowledge graph is devised to differentiate prior knowledge from various types of the road genome. We evaluate TopoNet on the challenging scene understanding benchmark, OpenLane-V2, where our approach outperforms all previous works by a great margin on all perceptual and topological metrics. The code is released at https://github.com/OpenDriveLab/TopoNet

Zhen Xing, Qijun Feng, Haoran Chen et al.

The recent wave of AI-generated content (AIGC) has witnessed substantial success in computer vision, with the diffusion model playing a crucial role in this achievement. Due to their impressive generative capabilities, diffusion models are gradually superseding methods based on GANs and auto-regressive Transformers, demonstrating exceptional performance not only in image generation and editing, but also in the realm of video-related research. However, existing surveys mainly focus on diffusion models in the context of image generation, with few up-to-date reviews on their application in the video domain. To address this gap, this paper presents a comprehensive review of video diffusion models in the AIGC era. Specifically, we begin with a concise introduction to the fundamentals and evolution of diffusion models. Subsequently, we present an overview of research on diffusion models in the video domain, categorizing the work into three key areas: video generation, video editing, and other video understanding tasks. We conduct a thorough review of the literature in these three key areas, including further categorization and practical contributions in the field. Finally, we discuss the challenges faced by research in this domain and outline potential future developmental trends. A comprehensive list of video diffusion models studied in this survey is available at https://github.com/ChenHsing/Awesome-Video-Diffusion-Models.

Xuesong Chen, Shaoshuai Shi, Benjin Zhu et al.

Accurate and reliable 3D detection is vital for many applications including autonomous driving vehicles and service robots. In this paper, we present a flexible and high-performance 3D detection framework, named MPPNet, for 3D temporal object detection with point cloud sequences. We propose a novel three-hierarchy framework with proxy points for multi-frame feature encoding and interactions to achieve better detection. The three hierarchies conduct per-frame feature encoding, short-clip feature fusion, and whole-sequence feature aggregation, respectively. To enable processing long-sequence point clouds with reasonable computational resources, intra-group feature mixing and inter-group feature attention are proposed to form the second and third feature encoding hierarchies, which are recurrently applied for aggregating multi-frame trajectory features. The proxy points not only act as consistent object representations for each frame, but also serve as the courier to facilitate feature interaction between frames. The experiments on large Waymo Open dataset show that our approach outperforms state-of-the-art methods with large margins when applied to both short (e.g., 4-frame) and long (e.g., 16-frame) point cloud sequences. Code is available at https://github.com/open-mmlab/OpenPCDet.

Yujing Xue, Jiageng Mao, Minzhe Niu et al.

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the interdependencies between attributes of 3D objects, which in turn enables a better detection accuracy. Specifically, we view each 3D object as a sequence of words and reformulate the 3D object detection task as decoding words from 3D scenes in an auto-regressive manner. We further propose a lightweight scene-to-sequence decoder that can auto-regressively generate words conditioned on features from a 3D scene as well as cues from the preceding words. The predicted words eventually constitute a set of sequences that completely describe the 3D objects in the scene, and all the predicted sequences are then automatically assigned to the respective ground truths through similarity-based sequence matching. Our approach is conceptually intuitive and can be readily plugged upon most existing 3D-detection backbones without adding too much computational overhead; the sequential decoding paradigm we proposed, on the other hand, can better exploit information from complex 3D scenes with the aid of preceding predicted words. Without bells and whistles, our method significantly outperforms previous anchor- and center-based 3D object detection frameworks, yielding the new state of the art on the challenging ONCE dataset as well as the Waymo Open Dataset. Code is available at \url{https://github.com/ocNflag/point2seq}.

Kaichen Zhou, Lanqing Hong, Changhao Chen et al.

Self-supervised depth learning from monocular images normally relies on the 2D pixel-wise photometric relation between temporally adjacent image frames. However, they neither fully exploit the 3D point-wise geometric correspondences, nor effectively tackle the ambiguities in the photometric warping caused by occlusions or illumination inconsistency. To address these problems, this work proposes Density Volume Construction Network (DevNet), a novel self-supervised monocular depth learning framework, that can consider 3D spatial information, and exploit stronger geometric constraints among adjacent camera frustums. Instead of directly regressing the pixel value from a single image, our DevNet divides the camera frustum into multiple parallel planes and predicts the pointwise occlusion probability density on each plane. The final depth map is generated by integrating the density along corresponding rays. During the training process, novel regularization strategies and loss functions are introduced to mitigate photometric ambiguities and overfitting. Without obviously enlarging model parameters size or running time, DevNet outperforms several representative baselines on both the KITTI-2015 outdoor dataset and NYU-V2 indoor dataset. In particular, the root-mean-square-deviation is reduced by around 4% with DevNet on both KITTI-2015 and NYU-V2 in the task of depth estimation. Code is available at https://github.com/gitkaichenzhou/DevNet.

Kai Chen, Yunhao Gou, Runhui Huang et al.

GPT-4o, an omni-modal model that enables vocal conversations with diverse emotions and tones, marks a milestone for omni-modal foundation models. However, empowering Large Language Models to perceive and generate images, texts, and speeches end-to-end with publicly available data remains challenging for the open-source community. Existing vision-language models rely on external tools for speech processing, while speech-language models still suffer from limited or totally without vision-understanding capabilities. To address this gap, we propose the EMOVA (EMotionally Omni-present Voice Assistant), to enable Large Language Models with end-to-end speech abilities while maintaining the leading vision-language performance. With a semantic-acoustic disentangled speech tokenizer, we surprisingly notice that omni-modal alignment can further enhance vision-language and speech abilities compared with the bi-modal aligned counterparts. Moreover, a lightweight style module is introduced for the flexible speech style controls including emotions and pitches. For the first time, EMOVA achieves state-of-the-art performance on both the vision-language and speech benchmarks, and meanwhile, supporting omni-modal spoken dialogue with vivid emotions.

Tianyi Lu, Xing Zhang, Jiaxi Gu et al.

Latent Diffusion Models (LDMs) are renowned for their powerful capabilities in image and video synthesis. Yet, compared to text-to-image (T2I) editing, text-to-video (T2V) editing suffers from a lack of decent temporal consistency and structure, due to insufficient pre-training data, limited model editability, or extensive tuning costs. To address this gap, we propose FLDM (Fused Latent Diffusion Model), a training-free framework that achieves high-quality T2V editing by integrating various T2I and T2V LDMs. Specifically, FLDM utilizes a hyper-parameter with an update schedule to effectively fuse image and video latents during the denoising process. This paper is the first to reveal that T2I and T2V LDMs can complement each other in terms of structure and temporal consistency, ultimately generating high-quality videos. It is worth noting that FLDM can serve as a versatile plugin, applicable to off-the-shelf image and video LDMs, to significantly enhance the quality of video editing. Extensive quantitative and qualitative experiments on popular T2I and T2V LDMs demonstrate FLDM's superior editing quality than state-of-the-art T2V editing methods. Our project code is available at https://github.com/lutianyi0603/fuse_your_latents.

Cuican Yu, Guansong Lu, Yihan Zeng et al. · tsinghua

Generating 3D faces from textual descriptions has a multitude of applications, such as gaming, movie, and robotics. Recent progresses have demonstrated the success of unconditional 3D face generation and text-to-3D shape generation. However, due to the limited text-3D face data pairs, text-driven 3D face generation remains an open problem. In this paper, we propose a text-guided 3D faces generation method, refer as TG-3DFace, for generating realistic 3D faces using text guidance. Specifically, we adopt an unconditional 3D face generation framework and equip it with text conditions, which learns the text-guided 3D face generation with only text-2D face data. On top of that, we propose two text-to-face cross-modal alignment techniques, including the global contrastive learning and the fine-grained alignment module, to facilitate high semantic consistency between generated 3D faces and input texts. Besides, we present directional classifier guidance during the inference process, which encourages creativity for out-of-domain generations. Compared to the existing methods, TG-3DFace creates more realistic and aesthetically pleasing 3D faces, boosting 9% multi-view consistency (MVIC) over Latent3D. The rendered face images generated by TG-3DFace achieve higher FID and CLIP score than text-to-2D face/image generation models, demonstrating our superiority in generating realistic and semantic-consistent textures.

Yikai Wang, Jianan Wang, Guansong Lu et al.

Existing text-guided image manipulation methods aim to modify the appearance of the image or to edit a few objects in a virtual or simple scenario, which is far from practical applications. In this work, we study a novel task on text-guided image manipulation on the entity level in the real world (eL-TGIM). The task imposes three basic requirements, (1) to edit the entity consistent with the text descriptions, (2) to preserve the entity-irrelevant regions, and (3) to merge the manipulated entity into the image naturally. To this end, we propose an elegant framework, dubbed as SeMani, forming the Semantic Manipulation of real-world images that can not only edit the appearance of entities but also generate new entities corresponding to the text guidance. To solve eL-TGIM, SeMani decomposes the task into two phases: the semantic alignment phase and the image manipulation phase. In the semantic alignment phase, SeMani incorporates a semantic alignment module to locate the entity-relevant region to be manipulated. In the image manipulation phase, SeMani adopts a generative model to synthesize new images conditioned on the entity-irrelevant regions and target text descriptions. We discuss and propose two popular generation processes that can be utilized in SeMani, the discrete auto-regressive generation with transformers and the continuous denoising generation with diffusion models, yielding SeMani-Trans and SeMani-Diff, respectively. We conduct extensive experiments on the real datasets CUB, Oxford, and COCO datasets to verify that SeMani can distinguish the entity-relevant and -irrelevant regions and achieve more precise and flexible manipulation in a zero-shot manner compared with baseline methods. Our codes and models will be released at https://github.com/Yikai-Wang/SeMani.

Lewei Yao, Jianhua Han, Youpeng Wen et al.

Open-world object detection, as a more general and challenging goal, aims to recognize and localize objects described by arbitrary category names. The recent work GLIP formulates this problem as a grounding problem by concatenating all category names of detection datasets into sentences, which leads to inefficient interaction between category names. This paper presents DetCLIP, a paralleled visual-concept pre-training method for open-world detection by resorting to knowledge enrichment from a designed concept dictionary. To achieve better learning efficiency, we propose a novel paralleled concept formulation that extracts concepts separately to better utilize heterogeneous datasets (i.e., detection, grounding, and image-text pairs) for training. We further design a concept dictionary~(with descriptions) from various online sources and detection datasets to provide prior knowledge for each concept. By enriching the concepts with their descriptions, we explicitly build the relationships among various concepts to facilitate the open-domain learning. The proposed concept dictionary is further used to provide sufficient negative concepts for the construction of the word-region alignment loss\, and to complete labels for objects with missing descriptions in captions of image-text pair data. The proposed framework demonstrates strong zero-shot detection performances, e.g., on the LVIS dataset, our DetCLIP-T outperforms GLIP-T by 9.9% mAP and obtains a 13.5% improvement on rare categories compared to the fully-supervised model with the same backbone as ours.

Guian Fang, Wenbiao Yan, Yuanfan Guo et al.

Text-to-image diffusion models have significantly advanced in conditional image generation. However, these models usually struggle with accurately rendering images featuring humans, resulting in distorted limbs and other anomalies. This issue primarily stems from the insufficient recognition and evaluation of limb qualities in diffusion models. To address this issue, we introduce AbHuman, the first large-scale synthesized human benchmark focusing on anatomical anomalies. This benchmark consists of 56K synthesized human images, each annotated with detailed, bounding-box level labels identifying 147K human anomalies in 18 different categories. Based on this, the recognition of human anomalies can be established, which in turn enhances image generation through traditional techniques such as negative prompting and guidance. To further boost the improvement, we propose HumanRefiner, a novel plug-and-play approach for the coarse-to-fine refinement of human anomalies in text-to-image generation. Specifically, HumanRefiner utilizes a self-diagnostic procedure to detect and correct issues related to both coarse-grained abnormal human poses and fine-grained anomaly levels, facilitating pose-reversible diffusion generation. Experimental results on the AbHuman benchmark demonstrate that HumanRefiner significantly reduces generative discrepancies, achieving a 2.9x improvement in limb quality compared to the state-of-the-art open-source generator SDXL and a 1.4x improvement over DALL-E 3 in human evaluations. Our data and code are available at https://github.com/Enderfga/HumanRefiner.

Lewei Yao, Jianhua Han, Xiaodan Liang et al.

This paper presents DetCLIPv2, an efficient and scalable training framework that incorporates large-scale image-text pairs to achieve open-vocabulary object detection (OVD). Unlike previous OVD frameworks that typically rely on a pre-trained vision-language model (e.g., CLIP) or exploit image-text pairs via a pseudo labeling process, DetCLIPv2 directly learns the fine-grained word-region alignment from massive image-text pairs in an end-to-end manner. To accomplish this, we employ a maximum word-region similarity between region proposals and textual words to guide the contrastive objective. To enable the model to gain localization capability while learning broad concepts, DetCLIPv2 is trained with a hybrid supervision from detection, grounding and image-text pair data under a unified data formulation. By jointly training with an alternating scheme and adopting low-resolution input for image-text pairs, DetCLIPv2 exploits image-text pair data efficiently and effectively: DetCLIPv2 utilizes 13X more image-text pairs than DetCLIP with a similar training time and improves performance. With 13M image-text pairs for pre-training, DetCLIPv2 demonstrates superior open-vocabulary detection performance, e.g., DetCLIPv2 with Swin-T backbone achieves 40.4% zero-shot AP on the LVIS benchmark, which outperforms previous works GLIP/GLIPv2/DetCLIP by 14.4/11.4/4.5% AP, respectively, and even beats its fully-supervised counterpart by a large margin.

Kaican Li, Kai Chen, Haoyu Wang et al.

Contemporary deep-learning object detection methods for autonomous driving usually assume prefixed categories of common traffic participants, such as pedestrians and cars. Most existing detectors are unable to detect uncommon objects and corner cases (e.g., a dog crossing a street), which may lead to severe accidents in some situations, making the timeline for the real-world application of reliable autonomous driving uncertain. One main reason that impedes the development of truly reliably self-driving systems is the lack of public datasets for evaluating the performance of object detectors on corner cases. Hence, we introduce a challenging dataset named CODA that exposes this critical problem of vision-based detectors. The dataset consists of 1500 carefully selected real-world driving scenes, each containing four object-level corner cases (on average), spanning more than 30 object categories. On CODA, the performance of standard object detectors trained on large-scale autonomous driving datasets significantly drops to no more than 12.8% in mAR. Moreover, we experiment with the state-of-the-art open-world object detector and find that it also fails to reliably identify the novel objects in CODA, suggesting that a robust perception system for autonomous driving is probably still far from reach. We expect our CODA dataset to facilitate further research in reliable detection for real-world autonomous driving. Our dataset will be released at https://coda-dataset.github.io.

Quande Liu, Youpeng Wen, Jianhua Han et al.

To bridge the gap between supervised semantic segmentation and real-world applications that acquires one model to recognize arbitrary new concepts, recent zero-shot segmentation attracts a lot of attention by exploring the relationships between unseen and seen object categories, yet requiring large amounts of densely-annotated data with diverse base classes. In this paper, we propose a new open-world semantic segmentation pipeline that makes the first attempt to learn to segment semantic objects of various open-world categories without any efforts on dense annotations, by purely exploiting the image-caption data that naturally exist on the Internet. Our method, Vision-language-driven Semantic Segmentation (ViL-Seg), employs an image and a text encoder to generate visual and text embeddings for the image-caption data, with two core components that endow its segmentation ability: First, the image encoder is jointly trained with a vision-based contrasting and a cross-modal contrasting, which encourage the visual embeddings to preserve both fine-grained semantics and high-level category information that are crucial for the segmentation task. Furthermore, an online clustering head is devised over the image encoder, which allows to dynamically segment the visual embeddings into distinct semantic groups such that they can be classified by comparing with various text embeddings to complete our segmentation pipeline. Experiments show that without using any data with dense annotations, our method can directly segment objects of arbitrary categories, outperforming zero-shot segmentation methods that require data labeling on three benchmark datasets.

Fan Yan, Ming Nie, Xinyue Cai et al.

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous driving due to the case of uneven road. Predicting the 3D lane layout is thus necessary and enables effective and safe driving. However, existing 3D lane detection datasets are either unpublished or synthesized from a simulated environment, severely hampering the development of this field. In this paper, we take steps towards addressing these issues. By exploiting the explicit relationship between point clouds and image pixels, a dataset annotation pipeline is designed to automatically generate high-quality 3D lane locations from 2D lane annotations in 211K road scenes. In addition, we present an extrinsic-free, anchor-free method, called SALAD, regressing the 3D coordinates of lanes in image view without converting the feature map into the bird's-eye view (BEV). To facilitate future research on 3D lane detection, we benchmark the dataset and provide a novel evaluation metric, performing extensive experiments of both existing approaches and our proposed method. The aim of our work is to revive the interest of 3D lane detection in a real-world scenario. We believe our work can lead to the expected and unexpected innovations in both academia and industry.

Yanxin Long, Youpeng Wen, Jianhua Han et al.

Benefiting from large-scale vision-language pre-training on image-text pairs, open-world detection methods have shown superior generalization ability under the zero-shot or few-shot detection settings. However, a pre-defined category space is still required during the inference stage of existing methods and only the objects belonging to that space will be predicted. To introduce a "real" open-world detector, in this paper, we propose a novel method named CapDet to either predict under a given category list or directly generate the category of predicted bounding boxes. Specifically, we unify the open-world detection and dense caption tasks into a single yet effective framework by introducing an additional dense captioning head to generate the region-grounded captions. Besides, adding the captioning task will in turn benefit the generalization of detection performance since the captioning dataset covers more concepts. Experiment results show that by unifying the dense caption task, our CapDet has obtained significant performance improvements (e.g., +2.1% mAP on LVIS rare classes) over the baseline method on LVIS (1203 classes). Besides, our CapDet also achieves state-of-the-art performance on dense captioning tasks, e.g., 15.44% mAP on VG V1.2 and 13.98% on the VG-COCO dataset.

Pengzhen Ren, Changlin Li, Hang Xu et al.

Recently, great success has been made in learning visual representations from text supervision, facilitating the emergence of text-supervised semantic segmentation. However, existing works focus on pixel grouping and cross-modal semantic alignment, while ignoring the correspondence among multiple augmented views of the same image. To overcome such limitation, we propose multi-\textbf{View} \textbf{Co}nsistent learning (ViewCo) for text-supervised semantic segmentation. Specifically, we first propose text-to-views consistency modeling to learn correspondence for multiple views of the same input image. Additionally, we propose cross-view segmentation consistency modeling to address the ambiguity issue of text supervision by contrasting the segment features of Siamese visual encoders. The text-to-views consistency benefits the dense assignment of the visual features by encouraging different crops to align with the same text, while the cross-view segmentation consistency modeling provides additional self-supervision, overcoming the limitation of ambiguous text supervision for segmentation masks. Trained with large-scale image-text data, our model can directly segment objects of arbitrary categories in a zero-shot manner. Extensive experiments show that ViewCo outperforms state-of-the-art methods on average by up to 2.9\%, 1.6\%, and 2.4\% mIoU on PASCAL VOC2012, PASCAL Context, and COCO, respectively.

Jiaxi Gu, Shicong Wang, Haoyu Zhao et al.

Inspired by the remarkable success of Latent Diffusion Models (LDMs) for image synthesis, we study LDM for text-to-video generation, which is a formidable challenge due to the computational and memory constraints during both model training and inference. A single LDM is usually only capable of generating a very limited number of video frames. Some existing works focus on separate prediction models for generating more video frames, which suffer from additional training cost and frame-level jittering, however. In this paper, we propose a framework called "Reuse and Diffuse" dubbed $\textit{VidRD}$ to produce more frames following the frames already generated by an LDM. Conditioned on an initial video clip with a small number of frames, additional frames are iteratively generated by reusing the original latent features and following the previous diffusion process. Besides, for the autoencoder used for translation between pixel space and latent space, we inject temporal layers into its decoder and fine-tune these layers for higher temporal consistency. We also propose a set of strategies for composing video-text data that involve diverse content from multiple existing datasets including video datasets for action recognition and image-text datasets. Extensive experiments show that our method achieves good results in both quantitative and qualitative evaluations. Our project page is available $\href{https://anonymous0x233.github.io/ReuseAndDiffuse/}{here}$.

Jiahui Gao, Renjie Pi, Yong Lin et al.

There is a rising interest in further exploring the zero-shot learning potential of large pre-trained language models (PLMs). A new paradigm called data-generation-based zero-shot learning has achieved impressive success. In this paradigm, the synthesized data from the PLM acts as the carrier of knowledge, which is used to train a task-specific model with orders of magnitude fewer parameters than the PLM, achieving both higher performance and efficiency than prompt-based zero-shot learning methods on PLMs. The main hurdle of this approach is that the synthesized data from PLM usually contains a significant portion of low-quality samples. Fitting on such data will greatly hamper the performance of the task-specific model, making it unreliable for deployment. Previous methods remedy this issue mainly by filtering synthetic data using heuristic metrics(e.g., output confidence), or refining the data with the help of a human expert, which comes with excessive manual tuning or expensive costs. In this paper, we propose a novel noise-robust re-weighting framework SunGen to automatically construct high-quality data for zero-shot classification problems. Our framework features the ability to learn the sample weights indicating data quality without requiring any human annotation. We theoretically and empirically verify the ability of our method to help construct good-quality synthetic datasets. Notably, SunGen-LSTM yields a 9.8% relative improvement than the baseline on average accuracy across eight different established text classification tasks.

Kai Chen, Zhili Liu, Lanqing Hong et al.

Masked Autoencoder (MAE) has demonstrated superior performance on various vision tasks via randomly masking image patches and reconstruction. However, effective data augmentation strategies for MAE still remain open questions, different from those in contrastive learning that serve as the most important part. This paper studies the prevailing mixing augmentation for MAE. We first demonstrate that naive mixing will in contrast degenerate model performance due to the increase of mutual information (MI). To address, we propose homologous recognition, an auxiliary pretext task, not only to alleviate the MI increasement by explicitly requiring each patch to recognize homologous patches, but also to perform object-aware self-supervised pre-training for better downstream dense perception performance. With extensive experiments, we demonstrate that our proposed Mixed Autoencoder (MixedAE) achieves the state-of-the-art transfer results among masked image modeling (MIM) augmentations on different downstream tasks with significant efficiency. Specifically, our MixedAE outperforms MAE by +0.3% accuracy, +1.7 mIoU and +0.9 AP on ImageNet-1K, ADE20K and COCO respectively with a standard ViT-Base. Moreover, MixedAE surpasses iBOT, a strong MIM method combined with instance discrimination, while accelerating training by 2x. To our best knowledge, this is the very first work to consider mixing for MIM from the perspective of pretext task design. Code will be made available.

Hang Xu, Chen Long, Wenxiao Zhang et al.

In this paper, we explore a novel framework, EGIInet (Explicitly Guided Information Interaction Network), a model for View-guided Point cloud Completion (ViPC) task, which aims to restore a complete point cloud from a partial one with a single view image. In comparison with previous methods that relied on the global semantics of input images, EGIInet efficiently combines the information from two modalities by leveraging the geometric nature of the completion task. Specifically, we propose an explicitly guided information interaction strategy supported by modal alignment for point cloud completion. First, in contrast to previous methods which simply use 2D and 3D backbones to encode features respectively, we unified the encoding process to promote modal alignment. Second, we propose a novel explicitly guided information interaction strategy that could help the network identify critical information within images, thus achieving better guidance for completion. Extensive experiments demonstrate the effectiveness of our framework, and we achieved a new state-of-the-art (+16% CD over XMFnet) in benchmark datasets despite using fewer parameters than the previous methods. The pre-trained model and code and are available at https://github.com/WHU-USI3DV/EGIInet.

Benjin Zhu, Zhe Wang, Shaoshuai Shi et al.

Although DETR-based 3D detectors can simplify the detection pipeline and achieve direct sparse predictions, their performance still lags behind dense detectors with post-processing for 3D object detection from point clouds. DETRs usually adopt a larger number of queries than GTs (e.g., 300 queries v.s. 40 objects in Waymo) in a scene, which inevitably incur many false positives during inference. In this paper, we propose a simple yet effective sparse 3D detector, named Query Contrast Voxel-DETR (ConQueR), to eliminate the challenging false positives, and achieve more accurate and sparser predictions. We observe that most false positives are highly overlapping in local regions, caused by the lack of explicit supervision to discriminate locally similar queries. We thus propose a Query Contrast mechanism to explicitly enhance queries towards their best-matched GTs over all unmatched query predictions. This is achieved by the construction of positive and negative GT-query pairs for each GT, and a contrastive loss to enhance positive GT-query pairs against negative ones based on feature similarities. ConQueR closes the gap of sparse and dense 3D detectors, and reduces up to ~60% false positives. Our single-frame ConQueR achieves new state-of-the-art (sota) 71.6 mAPH/L2 on the challenging Waymo Open Dataset validation set, outperforming previous sota methods (e.g., PV-RCNN++) by over 2.0 mAPH/L2.

Muyi Bao, Yuxin Cai, Hang Xu et al.

Vision-language models (VLMs) have become a common foundation for vision-and-language navigation in continuous environments (VLN-CE). Yet most VLM-based methods cast navigation as low-level action prediction, an interface that is ambiguous, tied to short-horizon motion primitives, and inefficient due to repeated VLM querying. We propose Goal2Pixel, a pure pixel-based paradigm that reformulates VLN-CE as navigable pixel grounding. Rather than predicting actions, Goal2Pixel uses the image plane as a unified spatial interface between VLM reasoning and robot motion: the model predicts a visible navigable pixel to the agent, which is back-projected into a 3D waypoint for forward navigation. For non-forward actions, we append auxiliary directive regions to the image plane, where the left/right/bottom regions are interpreted as turning left, turning right, and stopping, respectively. To enable long-horizon navigation, we propose a visibility-aware keyframe memory for compact and informative history representation. To adapt pretrained VLMs to navigable pixel grounding, we introduce semantic embeddings and coordinate-aware auxiliary losses. Goal2Pixel achieves competitive state-of-the-art performance while requiring fewer VLM inference calls than prior methods. On R2R-CE Val-Unseen it achieves 54.1% SR and 52.5% SPL with just 7.75 VLM calls per episode, 6x fewer than the 46.62 required by direct action prediction at 32.9% SR. The same trend holds on RxR-CE.Project Page: https://baobao0926.github.io/Goal2Pixel/.

Hang Xu, Yixian Shen, Thanassis Giannetsos et al.

Transformer models have set new performance standards for machine learning (ML) tasks. However, their resource-intensive deployment on resource-constrained edge devices for cloud-free, on-chip transformer inference remains challenging. The ARM Compute Library (ARM-CL) framework provides low-latency CNN inference on ARM-based edge devices but lacks support for transformer inference. In this work, we implement several new transformer kernels in ARM-CL to support native transformer execution. Our extended ARM-CL achieves up to three times faster transformer inference compared to state-of-the-art CPU/GPU implementations on an ARM-based embedded board. Furthermore, heterogeneous multi-processor system-on-chips (HMPSoCs) powering edge devices provide both embedded CPUs and GPUs. We introduce cooperative CPU-GPU transformer inference, which executes memory-intensive operations on the CPU while utilizing the GPU for highly parallelizable, compute-intensive operations. This cooperative execution, implemented with minimal overhead, further reduces transformer inference latency by up to 15.72% compared to the best single-processor inference on ARM-CL.

Jianhua Han, Xiajun Deng, Xinyue Cai et al.

We present Laneformer, a conceptually simple yet powerful transformer-based architecture tailored for lane detection that is a long-standing research topic for visual perception in autonomous driving. The dominant paradigms rely on purely CNN-based architectures which often fail in incorporating relations of long-range lane points and global contexts induced by surrounding objects (e.g., pedestrians, vehicles). Inspired by recent advances of the transformer encoder-decoder architecture in various vision tasks, we move forwards to design a new end-to-end Laneformer architecture that revolutionizes the conventional transformers into better capturing the shape and semantic characteristics of lanes, with minimal overhead in latency. First, coupling with deformable pixel-wise self-attention in the encoder, Laneformer presents two new row and column self-attention operations to efficiently mine point context along with the lane shapes. Second, motivated by the appearing objects would affect the decision of predicting lane segments, Laneformer further includes the detected object instances as extra inputs of multi-head attention blocks in the encoder and decoder to facilitate the lane point detection by sensing semantic contexts. Specifically, the bounding box locations of objects are added into Key module to provide interaction with each pixel and query while the ROI-aligned features are inserted into Value module. Extensive experiments demonstrate our Laneformer achieves state-of-the-art performances on CULane benchmark, in terms of 77.1% F1 score. We hope our simple and effective Laneformer will serve as a strong baseline for future research in self-attention models for lane detection.

Shipeng Yan, Lanqing Hong, Hang Xu et al.

Vision-language pre-training (VLP) has attracted increasing attention recently. With a large amount of image-text pairs, VLP models trained with contrastive loss have achieved impressive performance in various tasks, especially the zero-shot generalization on downstream datasets. In practical applications, however, massive data are usually collected in a streaming fashion, requiring VLP models to continuously integrate novel knowledge from incoming data and retain learned knowledge. In this work, we focus on learning a VLP model with sequential chunks of image-text pair data. To tackle the catastrophic forgetting issue in this multi-modal continual learning setting, we first introduce pseudo text replay that generates hard negative texts conditioned on the training images in memory, which not only better preserves learned knowledge but also improves the diversity of negative samples in the contrastive loss. Moreover, we propose multi-modal knowledge distillation between images and texts to align the instance-wise prediction between old and new models. We incrementally pre-train our model on both the instance and class incremental splits of the Conceptual Caption dataset, and evaluate the model on zero-shot image classification and image-text retrieval tasks. Our method consistently outperforms the existing baselines with a large margin, which demonstrates its superiority. Notably, we realize an average performance boost of $4.60\%$ on image-classification downstream datasets for the class incremental split.

Shenghua Xu, Xinyue Cai, Bin Zhao et al.

Lane detection is an important component of many real-world autonomous systems. Despite a wide variety of lane detection approaches have been proposed, reporting steady benchmark improvements over time, lane detection remains a largely unsolved problem. This is because most of the existing lane detection methods either treat the lane detection as a dense prediction or a detection task, few of them consider the unique topologies (Y-shape, Fork-shape, nearly horizontal lane) of the lane markers, which leads to sub-optimal solution. In this paper, we present a new method for lane detection based on relay chain prediction. Specifically, our model predicts a segmentation map to classify the foreground and background region. For each pixel point in the foreground region, we go through the forward branch and backward branch to recover the whole lane. Each branch decodes a transfer map and a distance map to produce the direction moving to the next point, and how many steps to progressively predict a relay station (next point). As such, our model is able to capture the keypoints along the lanes. Despite its simplicity, our strategy allows us to establish new state-of-the-art on four major benchmarks including TuSimple, CULane, CurveLanes and LLAMAS.

Xiwen Liang, Yangxin Wu, Jianhua Han et al.

Aiming towards a holistic understanding of multiple downstream tasks simultaneously, there is a need for extracting features with better transferability. Though many latest self-supervised pre-training methods have achieved impressive performance on various vision tasks under the prevailing pretrain-finetune paradigm, their generalization capacity to multi-task learning scenarios is yet to be explored. In this paper, we extensively investigate the transfer performance of various types of self-supervised methods, e.g., MoCo and SimCLR, on three downstream tasks, including semantic segmentation, drivable area segmentation, and traffic object detection, on the large-scale driving dataset BDD100K. We surprisingly find that their performances are sub-optimal or even lag far behind the single-task baseline, which may be due to the distinctions of training objectives and architectural design lied in the pretrain-finetune paradigm. To overcome this dilemma as well as avoid redesigning the resource-intensive pre-training stage, we propose a simple yet effective pretrain-adapt-finetune paradigm for general multi-task training, where the off-the-shelf pretrained models can be effectively adapted without increasing the training overhead. During the adapt stage, we utilize learnable multi-scale adapters to dynamically adjust the pretrained model weights supervised by multi-task objectives while leaving the pretrained knowledge untouched. Furthermore, we regard the vision-language pre-training model CLIP as a strong complement to the pretrain-adapt-finetune paradigm and propose a novel adapter named LV-Adapter, which incorporates language priors in the multi-task model via task-specific prompting and alignment between visual and textual features.

Ming Nie, Yujing Xue, Chunwei Wang et al.

Recently, polar-based representation has shown promising properties in perceptual tasks. In addition to Cartesian-based approaches, which separate point clouds unevenly, representing point clouds as polar grids has been recognized as an alternative due to (1) its advantage in robust performance under different resolutions and (2) its superiority in streaming-based approaches. However, state-of-the-art polar-based detection methods inevitably suffer from the feature distortion problem because of the non-uniform division of polar representation, resulting in a non-negligible performance gap compared to Cartesian-based approaches. To tackle this issue, we present PARTNER, a novel 3D object detector in the polar coordinate. PARTNER alleviates the dilemma of feature distortion with global representation re-alignment and facilitates the regression by introducing instance-level geometric information into the detection head. Extensive experiments show overwhelming advantages in streaming-based detection and different resolutions. Furthermore, our method outperforms the previous polar-based works with remarkable margins of 3.68% and 9.15% on Waymo and ONCE validation set, thus achieving competitive results over the state-of-the-art methods.

Zhili Liu, Jianhua Han, Lanqing Hong et al.

Self-supervised learning (SSL), especially contrastive methods, has raised attraction recently as it learns effective transferable representations without semantic annotations. A common practice for self-supervised pre-training is to use as much data as possible. For a specific downstream task, however, involving irrelevant data in pre-training may degenerate the downstream performance, observed from our extensive experiments. On the other hand, for existing SSL methods, it is burdensome and infeasible to use different downstream-task-customized datasets in pre-training for different tasks. To address this issue, we propose a novel SSL paradigm called Scalable Dynamic Routing (SDR), which can be trained once and deployed efficiently to different downstream tasks with task-customized pre-trained models. Specifically, we construct the SDRnet with various sub-nets and train each sub-net with only one subset of the data by data-aware progressive training. When a downstream task arrives, we route among all the pre-trained sub-nets to get the best along with its corresponding weights. Experiment results show that our SDR can train 256 sub-nets on ImageNet simultaneously, which provides better transfer performance than a unified model trained on the full ImageNet, achieving state-of-the-art (SOTA) averaged accuracy over 11 downstream classification tasks and AP on PASCAL VOC detection task.

Runhui Huang, Yanxin Long, Jianhua Han et al.

Large-scale cross-modal pre-training paradigms have recently shown ubiquitous success on a wide range of downstream tasks, e.g., zero-shot classification, retrieval and image captioning. However, their successes highly rely on the scale and quality of web-crawled data that naturally contain incomplete and noisy information (e.g., wrong or irrelevant content). Existing works either design manual rules to clean data or generate pseudo-targets as auxiliary signals for reducing noise impact, which do not explicitly tackle both the incorrect and incomplete challenges simultaneously. In this paper, to automatically mitigate the impact of noise by solely mining over existing data, we propose a principled Noise-robust Language-Image Pre-training framework (NLIP) to stabilize pre-training via two schemes: noise-harmonization and noise-completion. First, in noise-harmonization scheme, NLIP estimates the noise probability of each pair according to the memorization effect of cross-modal transformers, then adopts noise-adaptive regularization to harmonize the cross-modal alignments with varying degrees. Second, in noise-completion scheme, to enrich the missing object information of text, NLIP injects a concept-conditioned cross-modal decoder to obtain semantic-consistent synthetic captions to complete noisy ones, which uses the retrieved visual concepts (i.e., objects' names) for the corresponding image to guide captioning generation. By collaboratively optimizing noise-harmonization and noise-completion schemes, our NLIP can alleviate the common noise effects during image-text pre-training in a more efficient way. Extensive experiments show the significant performance improvements of our NLIP using only 26M data over existing pre-trained models (e.g., CLIP, FILIP and BLIP) on 12 zero-shot classification datasets, MSCOCO image captioning and zero-shot image-text retrieval tasks.

Zutao Jiang, Guansong Lu, Xiaodan Liang et al.

Text-guided 3D object generation aims to generate 3D objects described by user-defined captions, which paves a flexible way to visualize what we imagined. Although some works have been devoted to solving this challenging task, these works either utilize some explicit 3D representations (e.g., mesh), which lack texture and require post-processing for rendering photo-realistic views; or require individual time-consuming optimization for every single case. Here, we make the first attempt to achieve generic text-guided cross-category 3D object generation via a new 3D-TOGO model, which integrates a text-to-views generation module and a views-to-3D generation module. The text-to-views generation module is designed to generate different views of the target 3D object given an input caption. prior-guidance, caption-guidance and view contrastive learning are proposed for achieving better view-consistency and caption similarity. Meanwhile, a pixelNeRF model is adopted for the views-to-3D generation module to obtain the implicit 3D neural representation from the previously-generated views. Our 3D-TOGO model generates 3D objects in the form of the neural radiance field with good texture and requires no time-cost optimization for every single caption. Besides, 3D-TOGO can control the category, color and shape of generated 3D objects with the input caption. Extensive experiments on the largest 3D object dataset (i.e., ABO) are conducted to verify that 3D-TOGO can better generate high-quality 3D objects according to the input captions across 98 different categories, in terms of PSNR, SSIM, LPIPS and CLIP-score, compared with text-NeRF and Dreamfields.

Leo Luo, Haining Xie, Siqi Shen et al.

Text-to-SQL on complex schemas is unreliable on a single pass, so recent systems generate multiple SQL candidates and let voting filter out errors. Yet voting alone is not enough, because the multi-candidate recipe has three coupled weaknesses: 1) sampling more from a single generator produces increasingly redundant candidates, 2) existing pipelines apply one generic correction to every non-clean execution result, while runtime errors, timeouts, and empty results each indicate a different distance from correctness, and 3) existing selectors rely on a single angle such as result-majority voting or pairwise SQL comparison, missing what other angles would have caught. We present SIRIUS-SQL, which addresses all three weaknesses. A difficulty-smoothing RL recipe trains SIRIUS-32B to generate diverse executable SQL candidates, paired with a generalist LLM that fills in gaps left by the specialist. An execution-grounded lifecycle classifies each outcome and applies targeted repair before candidates re-enter the pool. A confidence-gated hybrid selector combines execution-result agreement with pairwise SQL-form judgment, escalating only near-tied cases to a deterministic structural check. SIRIUS-SQL reaches 75.88% on BIRD dev and 91.20% on SPIDER test. Two of three generalist pairings surpass Agentar-Scale-SQL, the strongest published multi-candidate system on BIRD dev.

Minbin Huang, Zhijian Huang, Changlin Li et al.

Neural Architecture Search (NAS) aims to find efficient models for multiple tasks. Beyond seeking solutions for a single task, there are surging interests in transferring network design knowledge across multiple tasks. In this line of research, effectively modeling task correlations is vital yet highly neglected. Therefore, we propose \textbf{Arch-Graph}, a transferable NAS method that predicts task-specific optimal architectures with respect to given task embeddings. It leverages correlations across multiple tasks by using their embeddings as a part of the predictor's input for fast adaptation. We also formulate NAS as an architecture relation graph prediction problem, with the relational graph constructed by treating candidate architectures as nodes and their pairwise relations as edges. To enforce some basic properties such as acyclicity in the relational graph, we add additional constraints to the optimization process, converting NAS into the problem of finding a Maximal Weighted Acyclic Subgraph (MWAS). Our algorithm then strives to eliminate cycles and only establish edges in the graph if the rank results can be trusted. Through MWAS, Arch-Graph can effectively rank candidate models for each task with only a small budget to finetune the predictor. With extensive experiments on TransNAS-Bench-101, we show Arch-Graph's transferability and high sample efficiency across numerous tasks, beating many NAS methods designed for both single-task and multi-task search. It is able to find top 0.16\% and 0.29\% architectures on average on two search spaces under the budget of only 50 models.

Kaixin Cai, Pengzhen Ren, Jianhua Han et al.

Open-world semantic segmentation presently relies significantly on extensive image-text pair datasets, which often suffer from a lack of fine-grained pixel annotations on sufficient categories. The acquisition of such data is rendered economically prohibitive due to the substantial investments of both human labor and time. In light of the formidable image generation capabilities of diffusion models, we introduce a novel diffusion model-driven pipeline for automatically generating datasets tailored to the needs of open-world semantic segmentation, named "MagicSeg". Our MagicSeg initiates from class labels and proceeds to generate high-fidelity textual descriptions, which in turn serve as guidance for the diffusion model to generate images. Rather than only generating positive samples for each label, our process encompasses the simultaneous generation of corresponding negative images, designed to serve as paired counterfactual samples for contrastive training. Then, to provide a self-supervised signal for open-world segmentation pretraining, our MagicSeg integrates an open-vocabulary detection model and an interactive segmentation model to extract object masks as precise segmentation labels from images based on the provided category labels. By applying our dataset to the contrastive language-image pretraining model with the pseudo mask supervision and the auxiliary counterfactual contrastive training, the downstream model obtains strong performance on open-world semantic segmentation. We evaluate our model on PASCAL VOC, PASCAL Context, and COCO, achieving SOTA with performance of 62.9%, 26.7%, and 40.2%, respectively, demonstrating our dataset's effectiveness in enhancing open-world semantic segmentation capabilities. Project website: https://github.com/ckxhp/magicseg.

Bingqian Lin, Zicong Chen, Mingjie Li et al.

Medical artificial general intelligence (MAGI) enables one foundation model to solve different medical tasks, which is very practical in the medical domain. It can significantly reduce the requirement of large amounts of task-specific data by sufficiently sharing medical knowledge among different tasks. However, due to the challenges of designing strongly generalizable models with limited and complex medical data, most existing approaches tend to develop task-specific models. To take a step towards MAGI, we propose a new paradigm called Medical-knOwledge-enhanced mulTimOdal pretRaining (MOTOR). In MOTOR, we combine two kinds of basic medical knowledge, i.e., general and specific knowledge, in a complementary manner to boost the general pretraining process. As a result, the foundation model with comprehensive basic knowledge can learn compact representations from pretraining radiographic data for better cross-modal alignment. MOTOR unifies the understanding and generation, which are two kinds of core intelligence of an AI system, into a single medical foundation model, to flexibly handle more diverse medical tasks. To enable a comprehensive evaluation and facilitate further research, we construct a medical multimodal benchmark including a wide range of downstream tasks, such as chest x-ray report generation and medical visual question answering. Extensive experiments on our benchmark show that MOTOR obtains promising results through simple task-oriented adaptation. The visualization shows that the injected knowledge successfully highlights key information in the medical data, demonstrating the excellent interpretability of MOTOR. Our MOTOR successfully mimics the human practice of fulfilling a "medical student" to accelerate the process of becoming a "specialist". We believe that our work makes a significant stride in realizing MAGI.

Runjian Chen, Yao Mu, Runsen Xu et al.

Unsupervised contrastive learning for indoor-scene point clouds has achieved great successes. However, unsupervised learning point clouds in outdoor scenes remains challenging because previous methods need to reconstruct the whole scene and capture partial views for the contrastive objective. This is infeasible in outdoor scenes with moving objects, obstacles, and sensors. In this paper, we propose CO^3, namely Cooperative Contrastive Learning and Contextual Shape Prediction, to learn 3D representation for outdoor-scene point clouds in an unsupervised manner. CO^3 has several merits compared to existing methods. (1) It utilizes LiDAR point clouds from vehicle-side and infrastructure-side to build views that differ enough but meanwhile maintain common semantic information for contrastive learning, which are more appropriate than views built by previous methods. (2) Alongside the contrastive objective, shape context prediction is proposed as pre-training goal and brings more task-relevant information for unsupervised 3D point cloud representation learning, which are beneficial when transferring the learned representation to downstream detection tasks. (3) As compared to previous methods, representation learned by CO^3 is able to be transferred to different outdoor scene dataset collected by different type of LiDAR sensors. (4) CO^3 improves current state-of-the-art methods on both Once and KITTI datasets by up to 2.58 mAP. We believe CO^3 will facilitate understanding LiDAR point clouds in outdoor scene.

Yunshuang Nie, Bingqian Lin, Minzhe Niu et al.

Pre-trained Multi-modal Large Language Models (MLLMs) provide a knowledge-rich foundation for post-training by leveraging their inherent perception and reasoning capabilities to solve complex tasks. However, the lack of an efficient evaluation framework impedes the diagnosis of their performance bottlenecks. Current evaluation primarily relies on testing after supervised fine-tuning, which introduces laborious additional training and autoregressive decoding costs. Meanwhile, common pre-training metrics cannot quantify a model's perception and reasoning abilities in a disentangled manner. Furthermore, existing evaluation benchmarks are typically limited in scale or misaligned with pre-training objectives. Thus, we propose RADAR, an efficient ability-centric evaluation framework for Revealing Asymmetric Development of Abilities in MLLM pRe-training. RADAR involves two key components: (1) Soft Discrimination Score, a novel metric for robustly tracking ability development without fine-tuning, based on quantifying nuanced gradations of the model preference for the correct answer over distractors; and (2) Multi-Modal Mixture Benchmark, a new 15K+ sample benchmark for comprehensively evaluating pre-trained MLLMs' perception and reasoning abilities in a 0-shot manner, where we unify authoritative benchmark datasets and carefully collect new datasets, extending the evaluation scope and addressing the critical gaps in current benchmarks. With RADAR, we comprehensively reveal the asymmetric development of perceptual and reasoning capabilities in pretrained MLLMs across diverse factors, including data volume, model size, and pretraining strategy. Our RADAR underscores the need for a decomposed perspective on pre-training ability bottlenecks, informing targeted interventions to advance MLLMs efficiently. Our code is publicly available at https://github.com/Nieysh/RADAR.

Yihan Zeng, Chenhan Jiang, Jiageng Mao et al.

Contrastive Language-Image Pre-training, benefiting from large-scale unlabeled text-image pairs, has demonstrated great performance in open-world vision understanding tasks. However, due to the limited Text-3D data pairs, adapting the success of 2D Vision-Language Models (VLM) to the 3D space remains an open problem. Existing works that leverage VLM for 3D understanding generally resort to constructing intermediate 2D representations for the 3D data, but at the cost of losing 3D geometry information. To take a step toward open-world 3D vision understanding, we propose Contrastive Language-Image-Point Cloud Pretraining (CLIP$^2$) to directly learn the transferable 3D point cloud representation in realistic scenarios with a novel proxy alignment mechanism. Specifically, we exploit naturally-existed correspondences in 2D and 3D scenarios, and build well-aligned and instance-based text-image-point proxies from those complex scenarios. On top of that, we propose a cross-modal contrastive objective to learn semantic and instance-level aligned point cloud representation. Experimental results on both indoor and outdoor scenarios show that our learned 3D representation has great transfer ability in downstream tasks, including zero-shot and few-shot 3D recognition, which boosts the state-of-the-art methods by large margins. Furthermore, we provide analyses of the capability of different representations in real scenarios and present the optional ensemble scheme.

Haoyuan Li, Qihang Cao, Tao Tang et al.

Recent progress in spatial reasoning with Multimodal Large Language Models (MLLMs) increasingly leverages geometric priors from 3D encoders. However, most existing integration strategies remain passive: geometry is exposed as a global stream and fused in an indiscriminate manner, which often induces semantic-geometry misalignment and redundant signals. We propose GeoThinker, a framework that shifts the paradigm from passive fusion to active perception. Instead of feature mixing, GeoThinker enables the model to selectively retrieve geometric evidence conditioned on its internal reasoning demands. GeoThinker achieves this through Spatial-Grounded Fusion applied at carefully selected VLM layers, where semantic visual priors selectively query and integrate task-relevant geometry via frame-strict cross-attention, further calibrated by Importance Gating that biases per-frame attention toward task-relevant structures. Comprehensive evaluation results show that GeoThinker sets a new state-of-the-art in spatial intelligence, achieving a peak score of 72.6 on the VSI-Bench. Furthermore, GeoThinker demonstrates robust generalization and significantly improved spatial perception across complex downstream scenarios, including embodied referring and autonomous driving. Our results indicate that the ability to actively integrate spatial structures is essential for next-generation spatial intelligence. Code can be found at https://github.com/Li-Hao-yuan/GeoThinker.

Haoyu Zhao, Tianyi Lu, Jiaxi Gu et al.

The diffusion model is widely leveraged for either video generation or video editing. As each field has its task-specific problems, it is difficult to merely develop a single diffusion for completing both tasks simultaneously. Video diffusion sorely relying on the text prompt can be adapted to unify the two tasks. However, it lacks a high capability of aligning heterogeneous modalities between text and image, leading to various misalignment problems. In this work, we are the first to propose a unified Multi-alignment Diffusion, dubbed as MagDiff, for both tasks of high-fidelity video generation and editing. The proposed MagDiff introduces three types of alignments, including subject-driven alignment, adaptive prompts alignment, and high-fidelity alignment. Particularly, the subject-driven alignment is put forward to trade off the image and text prompts, serving as a unified foundation generative model for both tasks. The adaptive prompts alignment is introduced to emphasize different strengths of homogeneous and heterogeneous alignments by assigning different values of weights to the image and the text prompts. The high-fidelity alignment is developed to further enhance the fidelity of both video generation and editing by taking the subject image as an additional model input. Experimental results on four benchmarks suggest that our method outperforms the previous method on each task.

Zhijian Huang, Sihao Lin, Guiyu Liu et al.

Multi-modality fusion and multi-task learning are becoming trendy in 3D autonomous driving scenario, considering robust prediction and computation budget. However, naively extending the existing framework to the domain of multi-modality multi-task learning remains ineffective and even poisonous due to the notorious modality bias and task conflict. Previous works manually coordinate the learning framework with empirical knowledge, which may lead to sub-optima. To mitigate the issue, we propose a novel yet simple multi-level gradient calibration learning framework across tasks and modalities during optimization. Specifically, the gradients, produced by the task heads and used to update the shared backbone, will be calibrated at the backbone's last layer to alleviate the task conflict. Before the calibrated gradients are further propagated to the modality branches of the backbone, their magnitudes will be calibrated again to the same level, ensuring the downstream tasks pay balanced attention to different modalities. Experiments on large-scale benchmark nuScenes demonstrate the effectiveness of the proposed method, eg, an absolute 14.4% mIoU improvement on map segmentation and 1.4% mAP improvement on 3D detection, advancing the application of 3D autonomous driving in the domain of multi-modality fusion and multi-task learning. We also discuss the links between modalities and tasks.

Jianan Wang, Guansong Lu, Hang Xu et al.

Existing text-guided image manipulation methods aim to modify the appearance of the image or to edit a few objects in a virtual or simple scenario, which is far from practical application. In this work, we study a novel task on text-guided image manipulation on the entity level in the real world. The task imposes three basic requirements, (1) to edit the entity consistent with the text descriptions, (2) to preserve the text-irrelevant regions, and (3) to merge the manipulated entity into the image naturally. To this end, we propose a new transformer-based framework based on the two-stage image synthesis method, namely \textbf{ManiTrans}, which can not only edit the appearance of entities but also generate new entities corresponding to the text guidance. Our framework incorporates a semantic alignment module to locate the image regions to be manipulated, and a semantic loss to help align the relationship between the vision and language. We conduct extensive experiments on the real datasets, CUB, Oxford, and COCO datasets to verify that our method can distinguish the relevant and irrelevant regions and achieve more precise and flexible manipulation compared with baseline methods. The project homepage is \url{https://jawang19.github.io/manitrans}.

Kai Chen, Chunwei Wang, Kuo Yang et al.

The rapid development of large language models (LLMs) has not only provided numerous opportunities but also presented significant challenges. This becomes particularly evident when LLMs inadvertently generate harmful or toxic content, either unintentionally or because of intentional inducement. Existing alignment methods usually direct LLMs toward the favorable outcomes by utilizing human-annotated, flawless instruction-response pairs. Conversely, this study proposes a novel alignment technique based on mistake analysis, which deliberately exposes LLMs to erroneous content to learn the reasons for mistakes and how to avoid them. In this case, mistakes are repurposed into valuable data for alignment, effectively helping to avoid the production of erroneous responses. Without external models or human annotations, our method leverages a model's intrinsic ability to discern undesirable mistakes and improves the safety of its generated responses. Experimental results reveal that our method outperforms existing alignment approaches in enhancing model safety while maintaining the overall utility.

Xiwen Liang, Minzhe Niu, Jianhua Han et al.

Multi-task learning has emerged as a powerful paradigm to solve a range of tasks simultaneously with good efficiency in both computation resources and inference time. However, these algorithms are designed for different tasks mostly not within the scope of autonomous driving, thus making it hard to compare multi-task methods in autonomous driving. Aiming to enable the comprehensive evaluation of present multi-task learning methods in autonomous driving, we extensively investigate the performance of popular multi-task methods on the large-scale driving dataset, which covers four common perception tasks, i.e., object detection, semantic segmentation, drivable area segmentation, and lane detection. We provide an in-depth analysis of current multi-task learning methods under different common settings and find out that the existing methods make progress but there is still a large performance gap compared with single-task baselines. To alleviate this dilemma in autonomous driving, we present an effective multi-task framework, VE-Prompt, which introduces visual exemplars via task-specific prompting to guide the model toward learning high-quality task-specific representations. Specifically, we generate visual exemplars based on bounding boxes and color-based markers, which provide accurate visual appearances of target categories and further mitigate the performance gap. Furthermore, we bridge transformer-based encoders and convolutional layers for efficient and accurate unified perception in autonomous driving. Comprehensive experimental results on the diverse self-driving dataset BDD100K show that the VE-Prompt improves the multi-task baseline and further surpasses single-task models.

Xinpeng Ding, Jianhua Han, Hang Xu et al.

Recent efforts to use natural language for interpretable driving focus mainly on planning, neglecting perception tasks. In this paper, we address this gap by introducing ROLISP (Risk Object Localization and Intention and Suggestion Prediction), which towards interpretable risk object detection and suggestion for ego car motions. Accurate ROLISP implementation requires extensive reasoning to identify critical traffic objects and infer their intentions, prompting us to explore the capabilities of multimodal large language models (MLLMs). However, the limited perception performance of CLIP-ViT vision encoders in existing MLLMs struggles with capturing essential visual perception information, e.g., high-resolution, multi-scale and visual-related inductive biases, which are important for autonomous driving. Addressing these challenges, we introduce HiLM-D, a resource-efficient framework that enhances visual information processing in MLLMs for ROLISP. Our method is motivated by the fact that the primary variations in autonomous driving scenarios are the motion trajectories rather than the semantic or appearance information (e.g., the shapes and colors) of objects. Hence, the visual process of HiLM-D is a two-stream framework: (i) a temporal reasoning stream, receiving low-resolution dynamic video content, to capture temporal semantics, and (ii) a spatial perception stream, receiving a single high-resolution frame, to capture holistic visual perception-related information. The spatial perception stream can be made very lightweight by a well-designed P-Adapter, which is lightweight, training-efficient, and easily integrated into existing MLLMs. Experiments on the DRAMA-ROLISP dataset show HiLM-D's significant improvements over current MLLMs, with a 3.7% in BLEU-4 for captioning and 8.7% in mIoU for detection.

Tianyu Huang, Yihan Zeng, Bowen Dong et al.

Recent works learn 3D representation explicitly under text-3D guidance. However, limited text-3D data restricts the vocabulary scale and text control of generations. Generators may easily fall into a stereotype concept for certain text prompts, thus losing open-vocabulary generation ability. To tackle this issue, we introduce a conditional 3D generative model, namely TextField3D. Specifically, rather than using the text prompts as input directly, we suggest to inject dynamic noise into the latent space of given text prompts, i.e., Noisy Text Fields (NTFs). In this way, limited 3D data can be mapped to the appropriate range of textual latent space that is expanded by NTFs. To this end, an NTFGen module is proposed to model general text latent code in noisy fields. Meanwhile, an NTFBind module is proposed to align view-invariant image latent code to noisy fields, further supporting image-conditional 3D generation. To guide the conditional generation in both geometry and texture, multi-modal discrimination is constructed with a text-3D discriminator and a text-2.5D discriminator. Compared to previous methods, TextField3D includes three merits: 1) large vocabulary, 2) text consistency, and 3) low latency. Extensive experiments demonstrate that our method achieves a potential open-vocabulary 3D generation capability.

Binbin Yang, Xinchi Deng, Han Shi et al.

Continual learning is a challenging real-world problem for constructing a mature AI system when data are provided in a streaming fashion. Despite recent progress in continual classification, the researches of continual object detection are impeded by the diverse sizes and numbers of objects in each image. Different from previous works that tune the whole network for all tasks, in this work, we present a simple and flexible framework for continual object detection via pRotOtypical taSk corrElaTion guided gaTing mechAnism (ROSETTA). Concretely, a unified framework is shared by all tasks while task-aware gates are introduced to automatically select sub-models for specific tasks. In this way, various knowledge can be successively memorized by storing their corresponding sub-model weights in this system. To make ROSETTA automatically determine which experience is available and useful, a prototypical task correlation guided Gating Diversity Controller(GDC) is introduced to adaptively adjust the diversity of gates for the new task based on class-specific prototypes. GDC module computes class-to-class correlation matrix to depict the cross-task correlation, and hereby activates more exclusive gates for the new task if a significant domain gap is observed. Comprehensive experiments on COCO-VOC, KITTI-Kitchen, class-incremental detection on VOC and sequential learning of four tasks show that ROSETTA yields state-of-the-art performance on both task-based and class-based continual object detection.